version: 66.12
glider: 171
mission: 9
dive: 56
start: 11 16 115 12 22 5
data:
$ID,171
$MISSION,9
$DIVE,56
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1015
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,420
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-6
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52091
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,587.06018
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,175
$PITCH_MAX,3952
$C_PITCH,1997
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,44
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2305
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3820
$C_VBD,2899
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-75.620842
$PRESSURE_SLOPE,0.0001165165
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004389904
$SEABIRD_T_H,0.00063959236
$SEABIRD_T_I,2.6546981e-05
$SEABIRD_T_J,3.01253e-06
$SEABIRD_C_G,-10.191363
$SEABIRD_C_H,1.1409097
$SEABIRD_C_I,-0.0015713738
$SEABIRD_C_J,0.00020770991
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,161115,121635,757.9203,8432.7979,35,0.9,35,-2.0,0.0,0.0,8,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.54
$_SM_ANGLEo,-52.9
$GPS2,161115,122154,757.9494,8432.8818,14,1.2,14,-2.0,0.0,0.0,6,9.2
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,NRL1
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,78.5,104822,-12.3,-7.857,-16.95,3372
$D_GRID,1020
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.54,-175.2,169,2301,548,467,0.0,0.0,0,165,0.00,0.00,-146.60,0.000,16386,0.000,0.000,168,2302,3091,3111,3072,0,0,0,0,0,0,26.36,28.83,26.42
$GC,167,-0.54,-175.2,169,2302,3112,3072,6.0,-11.5,12,191,5.97,2.40,-10.50,0.000,18692,0.200,1.237,1804,3664,3616,3462,3771,0,0,0,0,0,0,25.96,24.79,26.20
$GC,417,-0.53,-175.2,1804,3664,3463,3778,84.3,-20.8,54,424,0.00,2.10,0.00,0.000,1030,0.000,0.031,1804,2308,3619,3462,3777,0,0,0,0,0,0,26.38,26.32,26.39
$GC,789,-0.52,-175.2,1804,2307,3463,3782,146.5,-14.6,71,796,0.00,2.22,0.00,0.000,260,0.000,0.057,1794,3667,3622,3463,3782,0,0,0,0,0,0,26.67,26.41,26.74
$GC,957,-0.52,-175.2,1793,3667,3463,3784,168.5,-12.9,99,965,0.12,2.10,0.00,0.000,3078,0.135,0.032,1829,2285,3623,3463,3784,0,0,0,0,0,0,26.39,26.51,26.53
$GC,1341,-0.52,-175.2,1829,2285,3464,3784,204.6,-9.8,118,1349,0.00,2.20,0.00,0.000,260,0.000,0.057,1819,3655,3622,3461,3783,0,0,0,0,0,0,26.79,26.53,26.85
$GC,1402,-0.52,-175.2,1819,3655,3463,3784,211.2,-10.6,128,1409,0.00,2.05,0.00,0.000,1030,0.000,0.031,1819,2307,3623,3463,3783,0,0,0,0,0,0,26.65,26.60,26.67
$GC,1773,-0.51,-175.2,1819,2306,3463,3783,250.4,-10.2,145,1781,0.00,2.20,0.00,0.000,260,0.000,0.059,1811,3656,3622,3463,3782,0,0,0,0,0,0,26.84,26.58,26.90
$GC,1797,-0.51,-175.2,1810,3656,3463,3782,252.8,-10.5,149,1805,0.00,2.05,0.00,0.000,1030,0.000,0.032,1811,2307,3622,3463,3782,0,0,0,0,0,0,26.70,26.65,26.72
$GC,2171,-0.51,-175.2,1810,2308,3463,3776,288.4,-9.1,161,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2307,3619,3463,3775,0,0,0,0,0,0,26.87,26.94,26.94
$GC,2530,-0.51,-175.2,1810,2307,3463,3770,321.3,-9.0,171,2537,0.00,2.20,0.00,0.000,260,0.000,0.060,1801,3655,3615,3462,3769,0,0,0,0,0,0,26.89,26.62,26.96
$GC,2566,-0.51,-175.2,1801,3654,3463,3769,324.5,-9.3,177,2574,0.08,2.05,0.00,0.000,3078,0.105,0.033,1832,2305,3615,3462,3768,0,0,0,0,0,0,26.58,26.70,26.65
$GC,2963,-0.51,-175.2,1832,2305,3463,3762,357.1,-8.1,193,2971,0.00,2.17,0.00,0.000,516,0.000,0.042,1833,909,3611,3462,3761,0,0,0,0,0,0,26.91,26.67,26.97
$GC,2993,-0.51,-175.2,1832,909,3463,3762,359.7,-8.8,198,3002,0.00,2.20,0.00,0.000,1030,0.000,0.046,1824,2293,3611,3462,3761,0,0,0,0,0,0,26.74,26.66,26.77
$GC,3359,-0.51,-175.2,1823,2294,3463,3756,388.8,-8.0,209,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2293,3609,3462,3756,0,0,0,0,0,0,26.92,26.99,26.98
$GC,3719,-0.51,-175.2,1824,2293,3464,3751,418.6,-8.4,219,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2293,3606,3462,3750,0,0,0,0,0,0,26.94,27.01,26.99
$GC,4079,-0.51,-175.2,1825,2294,3462,3745,448.5,-8.2,229,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2293,3603,3462,3745,0,0,0,0,0,0,26.94,27.01,27.00
$GC,4439,-0.51,-175.2,1824,2293,3462,3742,479.4,-8.6,239,4447,0.00,2.17,0.00,0.000,516,0.000,0.041,1824,905,3601,3462,3741,0,0,0,0,0,0,26.95,26.70,27.01
$GC,4463,-0.51,-175.2,1823,905,3460,3741,481.5,-9.1,243,4470,0.00,2.22,0.00,0.000,1030,0.000,0.047,1814,2305,3601,3461,3741,0,0,0,0,0,0,26.77,26.70,26.79
$GC,4835,-0.51,-175.2,1813,2305,3462,3736,514.8,-8.9,255,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2305,3599,3462,3736,0,0,0,0,0,0,26.95,27.02,27.01
$GC,5195,-0.51,-175.2,1814,2305,3461,3732,545.2,-8.4,265,5203,0.00,2.20,0.00,0.000,516,0.000,0.044,1814,908,3596,3461,3731,0,0,0,0,0,0,26.95,26.70,27.01
$GC,5219,-0.51,-175.2,1814,908,3460,3731,547.3,-8.5,269,5228,0.00,2.22,0.00,0.000,1030,0.000,0.047,1805,2305,3596,3461,3731,0,0,0,0,0,0,26.78,26.70,26.80
$GC,5593,-0.50,-175.2,1804,2306,3461,3728,580.6,-9.4,281,5594,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2305,3594,3461,3728,0,0,0,0,0,0,26.96,27.02,27.01
$GC,5952,-0.50,-175.2,1804,2306,3461,3724,617.8,-10.3,291,5959,0.00,2.17,0.00,0.000,516,0.000,0.044,1805,910,3592,3461,3724,0,0,0,0,0,0,26.96,26.70,27.02
$GC,5976,-0.50,-175.2,1804,911,3462,3724,620.4,-10.9,295,5984,0.10,2.20,0.00,0.000,3078,0.114,0.048,1834,2304,3592,3461,3724,0,0,0,0,0,0,26.63,26.70,26.70
$GC,6349,-0.50,-175.2,1834,2304,3461,3721,649.7,-7.5,307,6355,0.00,2.17,0.00,0.000,516,0.000,0.045,1834,911,3590,3460,3721,0,0,0,0,0,0,26.96,26.70,27.01
$GC,6390,-0.50,-175.2,1834,911,3461,3721,652.9,-7.6,314,6397,0.00,2.20,0.00,0.000,1030,0.000,0.049,1826,2303,3590,3461,3720,0,0,0,0,0,0,26.74,26.69,26.77
$GC,6780,-0.50,-175.2,1825,2303,3461,3718,682.5,-7.8,329,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2303,3589,3461,3717,0,0,0,0,0,0,26.96,27.03,27.02
$GC,7140,-0.50,-175.2,1825,2303,3461,3715,709.5,-7.4,339,7147,0.00,2.17,0.00,0.000,516,0.000,0.044,1825,908,3587,3461,3714,0,0,0,0,0,0,26.96,26.70,27.02
$GC,7188,-0.50,-175.2,1825,908,3462,3714,713.0,-7.6,347,7195,0.00,2.25,0.00,0.000,1030,0.000,0.049,1816,2317,3587,3461,3714,0,0,0,0,0,0,26.78,26.70,26.81
$GC,7573,-0.50,-175.2,1816,2317,3461,3712,739.3,-6.5,361,7580,0.00,2.17,0.00,0.000,516,0.000,0.042,1816,913,3586,3461,3711,0,0,0,0,0,0,26.96,26.70,27.01
$GC,7632,-0.50,-175.2,1815,913,3461,3711,743.4,-7.1,371,7639,0.00,2.22,0.00,0.000,1030,0.000,0.048,1806,2308,3586,3461,3711,0,0,0,0,0,0,26.78,26.70,26.81
$GC,8005,-0.50,-175.2,1806,2309,3461,3709,770.1,-7.3,383,8006,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2308,3584,3461,3708,0,0,0,0,0,0,26.96,27.03,27.02
$GC,8365,-0.50,-175.2,1806,2308,3461,3708,798.2,-8.0,393,8372,0.00,2.17,0.00,0.000,516,0.000,0.044,1806,922,3584,3461,3707,0,0,0,0,0,0,26.96,26.70,27.02
$GC,8424,-0.50,-175.2,1806,922,3461,3707,803.3,-8.8,403,8432,0.12,2.20,0.00,0.000,3078,0.139,0.047,1834,2307,3584,3461,3707,0,0,0,0,0,0,26.64,26.70,26.75
$GC,8797,-0.51,-175.2,1833,2307,3461,3706,829.1,-6.9,415,8804,0.00,2.17,0.00,0.000,516,0.000,0.045,1834,917,3582,3460,3705,0,0,0,0,0,0,26.96,26.70,27.02
$GC,8839,-0.51,-175.2,1834,917,3461,3705,832.3,-7.3,422,8846,0.00,2.22,0.00,0.000,1030,0.000,0.050,1826,2304,3583,3461,3705,0,0,0,0,0,0,26.78,26.69,26.80
$GC,9229,-0.51,-175.2,1825,2304,3461,3703,859.6,-6.8,437,9230,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2304,3581,3460,3703,0,0,0,0,0,0,26.96,27.03,27.02
$GC,9589,-0.51,-175.2,1826,2304,3461,3700,884.7,-7.2,447,9596,0.00,2.17,0.00,0.000,516,0.000,0.045,1826,916,3580,3460,3700,0,0,0,0,0,0,26.96,26.70,27.02
$GC,9661,-0.51,-175.2,1826,917,3460,3701,890.4,-7.9,459,9668,0.00,2.20,0.00,0.000,1030,0.000,0.050,1817,2304,3580,3460,3701,0,0,0,0,0,0,26.74,26.70,26.78
$GC,10057,-0.51,-175.2,1816,2304,3460,3700,921.3,-7.8,475,10064,0.00,2.17,0.00,0.000,516,0.000,0.046,1817,917,3579,3460,3699,0,0,0,0,0,0,26.96,26.69,27.02
$GC,10093,-0.51,-175.2,1816,917,3460,3700,924.1,-7.9,481,10100,0.00,2.20,0.00,0.000,1030,0.000,0.050,1807,2299,3579,3460,3699,0,0,0,0,0,0,26.74,26.70,26.78
$GC,10489,-0.51,-175.2,1806,2299,3460,3698,954.4,-7.4,497,10497,0.00,2.17,0.00,0.000,516,0.000,0.042,1807,905,3578,3459,3697,0,0,0,0,0,0,26.96,26.70,27.01
$GC,10531,-0.51,-175.2,1806,905,3460,3698,957.5,-7.7,504,10539,0.12,2.25,0.00,0.000,3078,0.138,0.050,1834,2310,3578,3460,3697,0,0,0,0,0,0,26.63,26.69,26.74
$GC,10921,-0.51,-175.2,1834,2310,3460,3698,979.3,-5.4,519,10928,0.00,2.20,0.00,0.000,516,0.000,0.045,1835,909,3578,3460,3696,0,0,0,0,0,0,26.96,26.69,27.02
$GC,10981,-0.52,-175.2,1834,910,3460,3696,982.7,-5.5,529,10989,0.00,2.22,0.00,0.000,1030,0.000,0.050,1827,2307,3577,3459,3696,0,0,0,0,0,0,26.74,26.69,26.77
$STATE,11136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11136,begin apogee
$GC,11140,-0.11,0.0,1827,1961,3460,3695,991.6,-5.7,535,11296,0.40,0.00,148.20,1.190,10246,0.094,0.000,1966,1960,2899,2923,2875,0,0,0,0,1,0,26.65,24.65,23.66
$STATE,11298,end apogee,CONTROL_FINISHED_OK
$STATE,11298,begin climb
$GC,11299,0.54,175.2,1966,1960,2923,2874,995.1,0.0,539,11465,0.57,2.40,156.32,1.024,11012,0.068,0.052,2174,3373,2179,2251,2108,0,0,0,0,0,0,24.93,24.33,23.72
$GC,11505,0.54,175.2,2173,3373,2246,2108,983.3,8.1,576,11512,0.00,2.33,0.00,0.000,1030,0.000,0.032,2179,1950,2176,2245,2107,0,0,0,0,0,0,25.32,25.27,25.34
$GC,11896,0.54,177.2,2179,1951,2242,2103,952.7,7.8,591,11897,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,1950,2171,2241,2102,0,0,0,0,0,0,26.28,26.36,26.34
$GC,12255,0.55,183.1,2179,1950,2240,2102,925.0,7.7,601,12270,0.00,2.35,6.30,0.856,8452,0.000,0.054,2179,3378,2149,2217,2081,0,0,0,0,0,0,26.50,26.02,25.07
$GC,12304,0.55,183.1,2178,3378,2215,2082,920.9,8.4,609,12311,0.00,2.22,0.00,0.000,1030,0.000,0.033,2179,1962,2147,2214,2081,0,0,0,0,0,0,26.28,26.22,26.29
$GC,12689,0.56,194.9,2178,1962,2213,2082,891.4,7.5,623,12708,0.00,2.33,11.85,0.926,8452,0.000,0.053,2179,3380,2103,2167,2040,0,0,0,0,0,0,26.58,25.98,25.04
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$STATE,22566,end climb,SURFACE_DEPTH_REACHED
$STATE,22566,begin surface coast
$FINISH,0.8,1.021456
$STATE,22578,end surface coast,CONTROL_FINISHED_OK
$STATE,22578,begin surface
$SM_CCo,22652,0.00,0.000,0,0,457,599.27
$SM_GC,-0.41,5.60,1.65,0.00,0.030,0.034,0.000,169,2310,457,-5.65,1.55,599.27,0,0,0,0,0,0,26.32,26.27,26.35
$IRIDIUM_FIX,753.81,8428.42,161115,054317
$TT8_MAMPS,0.049434,0.049434
$HUMID,45.90
$INTERNAL_PRESSURE,9.42765
$TCM_TEMP,24.60
$XPDR_PINGS,0
$SC_FREEKB,3998560
$24V_AH,23.66,9.500
$10V_AH,10.13,6.996
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,13.775,168.050,665.250,0.000,0.000,0.000,0.000,197.600,0.000,0.000,15.558,0.000,19244.139,1201.770,2242.269,263.151,0.000,2205.463,0.000,1645.865,0.000,0.540,0.000
$DEVICE_MAMPS,200.430,1237.005,1190.340,0.000,0.000,0.000,0.000,124.695,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22596.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.920,0.000,0.000,0.000
$MEM,260760
$DATA_FILE_SIZE,39975,1117
$CAP_FILE_SIZE,197506,0
$CFSIZE,260034560,245551104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,11205.72,0x234072,2,24
$CURRENT,0.033,280.95,1
$GPS,161115,184035,758.651,8435.587,38,1.1,38,-2.0,0.0,0.0,9,8.7